圧力と粘着性を同時検出する単一素子触覚センサ（リアルタイム信号分離機能付き）
A robust single-sensing-element tactile sensor for concurrent pressure and tackiness detection with real-time signal decoupling capability
ホール効果センサと軟磁性複合材を組み合わせた単一素子の触覚センサを開発し、圧力と粘着力をリアルタイムで分離して検出できるようにした。
著者: Ying Yang, Mingwei Gu, Jia-Sen Xie, Xingyu Ma, Yan-Na Lu, Lin Zheng, Jinhui Gu, Junshuai Chen, Yunjie Lu, Denys Makarov, Jin Ge
分類: cs.RO, cond-mat.mtrl-sci
原文アブストラクト
Integrating tackiness sensation into the artificial skin of humanoid robots significantly enhances their cognitive and operational capabilities. However existing tactile sensors face challenges in decoupling of the multimodal signal and stability. Here we present a surface-soft tactile sensor that incorporates a Hall effect sensor and a soft magnetic composite within a robust elastic framework. The sensor surface indents under pressure and bulges prominently when retracted from sticky surfaces dynamically altering the Hall sensor-magnet distance. This generates whole-process-traceable and baseline-separated signals enabling real-time differentiation between pressure and pull-off force. This single-sensing-element design facilitates bimodal sensing at the same contact spot while eliminate stress cross-talk enhancing both accuracy and sensitivity. The fusion of a robust framework and magneto-mechanical sensing mechanism equips the sensor with exceptional reliability and excellent signal baseline stability. This tactile sensor holds substantial potential for advancing robotic capabilities in evaluating adhesive properties monitoring rubber aging precisely handling lightweight objects and cognizing natural objects surface characteristics.